#pragma once

#include <tinympc/types.hpp>

tinytype rho_value = 1.0;

tinytype Adyn_data[NSTATES * NSTATES] = {
	1.000000f, 0.000000f, 0.000000f, 0.050000f, 0.000000f, 0.000000f, 
	0.000000f, 1.000000f, 0.000000f, 0.000000f, 0.050000f, 0.000000f, 
	0.000000f, 0.000000f, 1.000000f, 0.000000f, 0.000000f, 0.050000f, 
	0.000000f, 0.000000f, 0.000000f, 1.000000f, 0.000000f, 0.000000f, 
	0.000000f, 0.000000f, 0.000000f, 0.000000f, 1.000000f, 0.000000f, 
	0.000000f, 0.000000f, 0.000000f, 0.000000f, 0.000000f, 1.000000f
};

tinytype Bdyn_data[NSTATES * NINPUTS] = {
	0.000125f, 0.000000f, 0.000000f, 
	0.000000f, 0.000125f, 0.000000f, 
	0.000000f, 0.000000f, 0.000125f, 
	0.005000f, 0.000000f, 0.000000f, 
	0.000000f, 0.005000f, 0.000000f, 
	0.000000f, 0.000000f, 0.005000f
};

tinytype fdyn_data[NSTATES] = {0.000000f, 0.000000f, -0.0122625f, 0.000000f, 0.000000f, -0.490500f};

tinytype Q_data[NSTATES] = {101.000000f, 101.000000f, 101.000000f, 101.000000f, 101.000000f, 101.000000f};

tinytype R_data[NINPUTS] = {2.000000f, 2.000000f, 2.000000f};

tinytype Kinf_data[NINPUTS*NSTATES] = {
	6.830684f, 0.000000f, 0.000000f, 13.537796f, 0.000000f, 0.000000f, 
	0.000000f, 6.830684f, 0.000000f, 0.000000f, 13.537796f, 0.000000f, 
	0.000000f, 0.000000f, 6.830684f, 0.000000f, 0.000000f, 13.537796f
};

tinytype Pinf_data[NSTATES*NSTATES] = {
	3963.818612f, 0.000000f, 0.000000f, 2828.869032f, 0.000000f, 0.000000f, 
	0.000000f, 3963.818612f, 0.000000f, 0.000000f, 2828.869032f, 0.000000f, 
	0.000000f, 0.000000f, 3963.818612f, 0.000000f, 0.000000f, 2828.869032f, 
	2828.869032f, 0.000000f, 0.000000f, 5585.840134f, 0.000000f, 0.000000f, 
	0.000000f, 2828.869032f, 0.000000f, 0.000000f, 5585.840134f, 0.000000f, 
	0.000000f, 0.000000f, 2828.869032f, 0.000000f, 0.000000f, 5585.840134f
};

tinytype Quu_inv_data[NINPUTS*NINPUTS] = {
	0.466582f, 0.000000f, 0.000000f, 
	0.000000f, 0.466582f, 0.000000f, 
	0.000000f, 0.000000f, 0.466582f
};

tinytype AmBKt_data[NSTATES*NSTATES] = {
	0.999146f, 0.000000f, 0.000000f, -0.034153f, 0.000000f, 0.000000f, 
	0.000000f, 0.999146f, 0.000000f, 0.000000f, -0.034153f, 0.000000f, 
	0.000000f, 0.000000f, 0.999146f, 0.000000f, 0.000000f, -0.034153f, 
	0.048308f, 0.000000f, 0.000000f, 0.932311f, 0.000000f, 0.000000f, 
	0.000000f, 0.048308f, 0.000000f, 0.000000f, 0.932311f, 0.000000f, 
	0.000000f, 0.000000f, 0.048308f, 0.000000f, 0.000000f, 0.932311f
};

tinytype APf_data[NSTATES] = {0.000000f, 0.000000f, -1340.180184f, 0.000000f, 0.000000f, -2656.115579f};

tinytype BPf_data[NINPUTS] = {0.000000f, 0.000000f, -14.052239f};

